Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
Sign Up to like & getrecommendations! Published in 2020 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-020-05851-9
Abstract: The compass-gait biped robot is a two-DoF legged mechanical system that has been known by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive hybrid nonlinear system that exhibits… read more here.
Keywords: gait biped; map; biped robot; poincare map ... See more keywords
Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Automation and Computing"
DOI: 10.1007/s11633-018-1121-3
Abstract: The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller… read more here.
Keywords: near optimal; optimal pid; pid controllers; controller ... See more keywords
Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance
Sign Up to like & getrecommendations! Published in 2019 at "Journal of the Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-019-1957-7
Abstract: This paper deals with the modelling and obstacle avoidance of a biped robot. At first, the bond graph-based three-dimensional model of the biped is proposed. The robot walking scheme depends upon the oscillating cylinder mechanism.… read more here.
Keywords: obstacle avoidance; bond graph; biped robot; obstacle ... See more keywords
New Robust Control Method Applied to the Locomotion of a 5-Link Biped Robot
Sign Up to like & getrecommendations! Published in 2020 at "Robotica"
DOI: 10.1017/s0263574719001796
Abstract: SUMMARY This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the… read more here.
Keywords: control; link biped; robust control; biped robot ... See more keywords
M-A3C: A Mean-Asynchronous Advantage Actor-Critic Reinforcement Learning Method for Real-Time Gait Planning of Biped Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3176608
Abstract: Bipedal walking is a challenging task for humanoid robots. In this study, we develop a lightweight reinforcement learning method for real-time gait planning of the biped robot.We regard bipedal walking as a process in which… read more here.
Keywords: gait planning; reinforcement learning; gait; biped robot ... See more keywords
Parallel Deep Reinforcement Learning Method for Gait Control of Biped Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2022.3145373
Abstract: In this brief, a parallel Deep Deterministic Policy Gradient (DDPG) algorithm is presented for biped robot gait control. Biped robot gait control is a high-dimensional continuous problem. It is challenging to obtain a fast and… read more here.
Keywords: parallel deep; biped robot; control biped; gait ... See more keywords
Kinematic and three-dimensional dynamic modeling of a biped robot
Sign Up to like & getrecommendations! Published in 2017 at "Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics"
DOI: 10.1177/1464419316645243
Abstract: This article focuses on inverse kinematic formulation and dynamic modeling of the Nao biped robot's lower body, accompanied by verification with the joints' angles as experimental data. Dynamic modeling in two different planes is discussed… read more here.
Keywords: three dimensional; dimensional dynamic; kinematic three; biped robot ... See more keywords
Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420976344
Abstract: This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints.… read more here.
Keywords: gait planning; multi objective; jaya; stable gait ... See more keywords
Analysis and control of biped robot with variable stiffness ankle joints
Sign Up to like & getrecommendations! Published in 2020 at "Technology and Health Care"
DOI: 10.3233/thc-209046
Abstract: BACKGROUND: Biped robot locomotion is an active topic of research, and the walking stability is one of the research objectives. OBJECTIVE: This paper discusses the variable stiffness ankle joint and the walking control of a… read more here.
Keywords: variable stiffness; biped robot; stiffness ankle; control ... See more keywords
Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking
Sign Up to like & getrecommendations! Published in 2021 at "Applied Sciences"
DOI: 10.3390/app11052342
Abstract: Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive… read more here.
Keywords: biped robot; torso pitch; pitch motion; gait ... See more keywords
A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control
Sign Up to like & getrecommendations! Published in 2023 at "Biomimetics"
DOI: 10.3390/biomimetics8010126
Abstract: At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper,… read more here.
Keywords: spring compensation; compensation; low cost; biped robot ... See more keywords